Dynamics and experiments of a tendon-actuated flexible robotic arm for capturing a floating target

IF 5 Q1 ENGINEERING, MULTIDISCIPLINARY

Defence Technology(防务技术) Pub Date : 2025-05-01 DOI:10.1016/j.dt.2024.12.013

Xin Xia , Yunpeng Sun , Jialiang Sun

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引用次数: 0

Abstract

Reusable and flexible capturing of space debris is highly required in future aerospace technologies. A tendon-actuated flexible robotic arm is therefore proposed for capturing floating targets in this paper. Firstly, an accurate dynamic model of the flexible robotic arm is established by using the absolute nodal coordinate formulation (ANCF) in the framework of the arbitrary Lagrangian-Eulerian (ALE) description and the natural coordinate formulation (NCF). The contact and self-contact dynamics of the flexible robotic arm when bending and grasping an object are considered via a fast contact detection approach. Then, the dynamic simulations of the flexible robotic arm for capturing floating targets are carried out to study the influence of the position, size, and mass of the target object on the grasping performance. Finally, a principle prototype of the tendon-actuated flexible robotic arm is manufactured to validate the dynamic model. The corresponding grasping experiments for objects of various shapes are also conducted to illustrate the excellent performance of the flexible robotic arm.

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肌腱驱动柔性机械臂捕获漂浮目标的动力学与实验

在未来的航空航天技术中，高度需要可重复使用和灵活地捕获空间碎片。因此，本文提出了一种用于捕获漂浮目标的肌腱驱动柔性机械臂。首先，在任意拉格朗日-欧拉坐标系（ALE）和自然坐标系（NCF）的框架下，采用绝对节点坐标公式（ANCF）建立了柔性机械臂的精确动力学模型；通过快速接触检测方法，研究了柔性机械臂在弯曲和抓取物体时的接触动力学和自接触动力学。然后，对柔性机械臂抓取浮动目标进行了动力学仿真，研究了目标物体的位置、大小和质量对抓取性能的影响。最后，制作了肌腱驱动柔性机械臂的原理样机，对动力学模型进行了验证。针对不同形状的物体进行了相应的抓取实验，验证了柔性机械臂的优异性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Defence Technology(防务技术) Mechanical Engineering, Control and Systems Engineering, Industrial and Manufacturing Engineering

CiteScore

8.70

自引率

0.00%

发文量

728

审稿时长

25 days

期刊介绍： Defence Technology, a peer reviewed journal, is published monthly and aims to become the best international academic exchange platform for the research related to defence technology. It publishes original research papers having direct bearing on defence, with a balanced coverage on analytical, experimental, numerical simulation and applied investigations. It covers various disciplines of science, technology and engineering.